8 research outputs found
Real-time single image depth perception in the wild with handheld devices
Depth perception is paramount to tackle real-world problems, ranging from
autonomous driving to consumer applications. For the latter, depth estimation
from a single image represents the most versatile solution, since a standard
camera is available on almost any handheld device. Nonetheless, two main issues
limit its practical deployment: i) the low reliability when deployed
in-the-wild and ii) the demanding resource requirements to achieve real-time
performance, often not compatible with such devices. Therefore, in this paper,
we deeply investigate these issues showing how they are both addressable
adopting appropriate network design and training strategies -- also outlining
how to map the resulting networks on handheld devices to achieve real-time
performance. Our thorough evaluation highlights the ability of such fast
networks to generalize well to new environments, a crucial feature required to
tackle the extremely varied contexts faced in real applications. Indeed, to
further support this evidence, we report experimental results concerning
real-time depth-aware augmented reality and image blurring with smartphones
in-the-wild.Comment: 11 pages, 9 figure
On the Synergies between Machine Learning and Binocular Stereo for Depth Estimation from Images: a Survey
Stereo matching is one of the longest-standing problems in computer vision
with close to 40 years of studies and research. Throughout the years the
paradigm has shifted from local, pixel-level decision to various forms of
discrete and continuous optimization to data-driven, learning-based methods.
Recently, the rise of machine learning and the rapid proliferation of deep
learning enhanced stereo matching with new exciting trends and applications
unthinkable until a few years ago. Interestingly, the relationship between
these two worlds is two-way. While machine, and especially deep, learning
advanced the state-of-the-art in stereo matching, stereo itself enabled new
ground-breaking methodologies such as self-supervised monocular depth
estimation based on deep networks. In this paper, we review recent research in
the field of learning-based depth estimation from single and binocular images
highlighting the synergies, the successes achieved so far and the open
challenges the community is going to face in the immediate future.Comment: Accepted to TPAMI. Paper version of our CVPR 2019 tutorial:
"Learning-based depth estimation from stereo and monocular images: successes,
limitations and future challenges"
(https://sites.google.com/view/cvpr-2019-depth-from-image/home
Enhancing Self-Supervised Monocular Depth Estimation with Traditional Visual Odometry
Estimating depth from a single image represents an attractive alternative to more traditional approaches leveraging multiple cameras. In this field, deep learning yielded outstanding results at the cost of needing large amounts of data labeled with precise depth measurements for training. An issue softened by self-supervised approaches leveraging monocular sequences or stereo pairs in place of expensive ground truth depth annotations. This paper enables to further improve monocular depth estimation by integrating into existing self-supervised networks a geometrical prior. Specifically, we propose a sparsity-invariant autoencoder able to process the output of conventional visual odometry algorithms working in synergy with depth-from-mono networks. Experimental results on the KITTI dataset show that by exploiting the geometrical prior, our proposal: I) outperforms existing approaches in the literature and ii) couples well with both compact and complex depth-from-mono architectures, allowing for its deployment on high-end GPUs as well as on embedded devices (e.g., NVIDIA Jetson TX2)